Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >

Interface for implementing edge registration classes.

CEdgeRegistrationDecider provides the basic methods that have to exist in every edge registration decider class. For an example of inheriting from this class see CICPCriteriaERD.

Note: As a naming convention, all the implemented edge registration deciders are suffixed with the ERD acronym.

Definition at line 42 of file CEdgeRegistrationDecider.h.

#include <mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h>

Inheritance diagram for mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >:

Public Types

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >	parent
	Handy typedefs. More...

typedef GRAPH_T::constraint_t	constraint_t
	type of graph constraints More...

typedef GRAPH_T::constraint_t::type_value	pose_t
	type of underlying poses (2D/3D). More...

Public Member Functions
	CEdgeRegistrationDecider ()
	Default class constructor. More...

virtual	~CEdgeRegistrationDecider ()
	Default class destructor. More...

virtual bool	updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0
	Generic method for fetching the incremental action/observation readings from the calling function. More...

virtual void	getEdgesStats (std::map< std::string, int > *edge_type_to_num) const
	Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge. More...

virtual bool	justInsertedLoopClosure () const
	Used by the caller to query for possible loop closures in the last edge registration procedure. More...

virtual void	getDescriptiveReport (std::string *report_str) const
	Fill the provided string with a detailed report of the decider/optimizer state. More...

virtual void	setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
	Fetch a CWindowManager pointer. More...

virtual void	setCriticalSectionPtr (mrpt::synch::CCriticalSection *graph_section)
	Fetch a mrpt::synch::CCriticalSection for locking the GRAPH_T resource. More...

virtual void	initializeVisuals ()
	Initialize visual objects in CDisplayWindow (e.g. More...

virtual void	updateVisuals ()
	Update the relevant visual features in CDisplayWindow. More...

virtual void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
	Get a list of the window events that happened since the last call. More...

virtual void	loadParams (const std::string &source_fname)
	Load the necessary for the decider/optimizer configuration parameters. More...

virtual void	printParams () const
	Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...

virtual void	setGraphPtr (GRAPH_T *graph)
	Fetch the graph on which the decider/optimizer will work on. More...

virtual void	initializeLoggers (const std::string &name)
	Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand. More...

virtual void	setClassName (const std::string &name)

bool	isMultiRobotSlamClass ()

std::string	getClassName () const

Protected Member Functions
virtual void	registerNewEdge (const mrpt::utils::TNodeID &from, const mrpt::utils::TNodeID &to, const constraint_t &rel_edge)
	Register a new constraint/edge in the current graph. More...

virtual void	assertVisualsVars ()
	Handy function for making all the visuals assertions in a compact manner. More...

Registration criteria checks
Check whether a new edge should be registered in the graph. If condition(s) for edge registration is satisfied, method should call the registerNewEdge method.
virtual void	checkRegistrationCondition (mrpt::utils::TNodeID from, mrpt::utils::TNodeID to)

virtual void	checkRegistrationCondition (const std::set< mrpt::utils::TNodeID > &)

Protected Attributes
bool	m_just_inserted_lc

bool	m_override_registered_nodes_check
	Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method. More...

GRAPH_T *	m_graph
	Pointer to the graph that is under construction. More...

mrpt::synch::CCriticalSection *	m_graph_section

mrpt::utils::CTimeLogger	m_time_logger
	Time logger instance. More...

std::string	m_class_name
	Name of the class instance. More...

bool	is_mr_slam_class
	Boolean indicating if the current class can be used in multi-robot SLAM operations. More...

Visuals-related variables methods
mrpt::graphslam::CWindowManager *	m_win_manager
	Pointer to the CWindowManager object used to store visuals-related instances. More...

mrpt::gui::CDisplayWindow3D *	m_win
	Window to use. More...

mrpt::graphslam::CWindowObserver *	m_win_observer
	CWindowObserver object for monitoring various visual-oriented events. More...

bool	m_initialized_visuals

Static Protected Attributes
static const std::string	header_sep = std::string(80, '-')
	Separator string to be used in debugging messages. More...

static const std::string	report_sep = std::string(2, '\n')

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_T::constraint_t mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::constraint_t

type of graph constraints

Definition at line 51 of file CEdgeRegistrationDecider.h.

◆ parent

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::parent

Handy typedefs.

Parent of current class

Definition at line 49 of file CEdgeRegistrationDecider.h.

◆ pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::pose_t

type of underlying poses (2D/3D).

Definition at line 53 of file CEdgeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CEdgeRegistrationDecider()

template<class GRAPH_T >

CEdgeRegistrationDecider::CEdgeRegistrationDecider ( )

Default class constructor.

Definition at line 14 of file CEdgeRegistrationDecider_impl.h.

◆ ~CEdgeRegistrationDecider()

template<class GRAPH_T >

CEdgeRegistrationDecider::~CEdgeRegistrationDecider ( )

virtual

Default class destructor.

Definition at line 20 of file CEdgeRegistrationDecider_impl.h.

Member Function Documentation

◆ assertVisualsVars()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars ( )

protectedvirtualinherited

Handy function for making all the visuals assertions in a compact manner.

Definition at line 87 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition() [1/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition	(	mrpt::utils::TNodeID	from,
		mrpt::utils::TNodeID	to
	)

inlineprotectedvirtual

Definition at line 92 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition() [2/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( const std::set< mrpt::utils::TNodeID > & )

inlineprotectedvirtual

Definition at line 95 of file CEdgeRegistrationDecider.h.

◆ getClassName()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getClassName ( ) const

inlineinherited

Definition at line 138 of file CRegistrationDeciderOrOptimizer.h.

◆ getDescriptiveReport()

template<class GRAPH_T >

void CEdgeRegistrationDecider::getDescriptiveReport ( std::string * report_str ) const

virtual

Fill the provided string with a detailed report of the decider/optimizer state.

Report should include (part of) the following:

Timing of important methods
Properties fo class at the current time
Logging of commands until current time

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 23 of file CEdgeRegistrationDecider_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport().

◆ getEdgesStats()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::getEdgesStats ( std::map< std::string, int > * edge_type_to_num ) const

inlinevirtual

Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 74 of file CEdgeRegistrationDecider.h.

◆ initializeLoggers()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers ( const std::string & name )

virtualinherited

Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.

Definition at line 38 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::CLevMarqGSO(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::CLoopCloserERD().

◆ initializeVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals ( )

virtualinherited

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Exceptions

std::exception If the method is called without having first provided a CDisplayWindow3D* to the class instance

See also: setWindowManagerPtr, updateVisuals

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 81 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initializeVisuals().

◆ isMultiRobotSlamClass()

template<class GRAPH_T >

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )

inherited

Definition at line 132 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ justInsertedLoopClosure()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::justInsertedLoopClosure ( ) const

inlinevirtual

Used by the caller to query for possible loop closures in the last edge registration procedure.

Definition at line 79 of file CEdgeRegistrationDecider.h.

◆ loadParams()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams ( const std::string & source_fname )

virtualinherited

Load the necessary for the decider/optimizer configuration parameters.

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.

Definition at line 105 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

◆ notifyOfWindowEvents()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > & events_occurred )

virtualinherited

Get a list of the window events that happened since the last call.

Method in derived classes is automatically called from the CGraphSlamEngine_t instance. After that, decider/optimizer should just fetch the parameters that it is interested in.

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 99 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().

◆ printParams()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams ( ) const

virtualinherited

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.

Definition at line 111 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

◆ registerNewEdge()

template<class GRAPH_T >

void CEdgeRegistrationDecider::registerNewEdge	(	const mrpt::utils::TNodeID &	from,
		const mrpt::utils::TNodeID &	to,
		const constraint_t &	rel_edge
	)

protectedvirtual

Register a new constraint/edge in the current graph.

Implementations of this class should provide a wrapper around GRAPH_T::insertEdge method.

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >.

Definition at line 32 of file CEdgeRegistrationDecider_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::registerNewEdge().

◆ setClassName()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName ( const std::string & name )

virtualinherited

Definition at line 52 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( mrpt::synch::CCriticalSection * graph_section )

virtualinherited

Fetch a mrpt::synch::CCriticalSection for locking the GRAPH_T resource.

Handy for realising multithreading in the derived classes.

Warning: Beware that prior to the decider/optimizer public method call, the CCriticalSection will already be locked from CGraphSlamEngine_t instance, but this isn't effective in multithreaded implementations where the decider/optimizer itself has to lock the function at which the extra thread runs.

Definition at line 73 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setGraphPtr()

template<class GRAPH_T>

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setGraphPtr ( GRAPH_T * graph )

virtualinherited

Fetch the graph on which the decider/optimizer will work on.

Definition at line 124 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setWindowManagerPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setWindowManagerPtr ( mrpt::graphslam::CWindowManager * win_manager )

virtualinherited

Fetch a CWindowManager pointer.

CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >.

Definition at line 61 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::updateState	(	mrpt::obs::CActionCollectionPtr	action,
		mrpt::obs::CSensoryFramePtr	observations,
		mrpt::obs::CObservationPtr	observation
	)

pure virtual

Generic method for fetching the incremental action/observation readings from the calling function.

Implementations of this interface should use (part of) the specified parameters and call the checkRegistrationCondition to check for potential Edge registration

Implements mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Implemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >.